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WO-2026092645-A1 - RIGIDITY-FLEXIBILITY INTEGRATED MULTIFUNCTIONAL LOWER LIMB REHABILITATION TRAINING DEVICE

WO2026092645A1WO 2026092645 A1WO2026092645 A1WO 2026092645A1WO-2026092645-A1

Abstract

A rigidity-flexibility integrated multifunctional lower limb rehabilitation training device, comprising a base (100), a flexion-extension support (200), a hip and knee joint flexion-extension active training control mechanism (300), an ankle joint dorsiflexion-plantarflexion training mechanism (400), a hip and ankle joint internal-external rotation active training mechanism (500) and a hip joint adduction and abduction active training mechanism (600). The device mainly comprises a flexion-extension hand pull cord (310), a foot pedal (320) and a foot pedal pull cord (330); a support plate (410) and an elastic part (420); a support frame (510), an internal-external rotation training arc-shaped track (520), an internal-external rotation roller (450) and an internal-external rotation training pull cord (530); and an adduction and abduction training arc-shaped track (610), an adduction and abduction gear (620) meshed therewith and an adduction and abduction training pull cord (630). The lower limb core muscle group rehabilitation training device enables early implementation of multi-joint and multi-degree-of-freedom training integrating passive, assistive and active modes in a supine position, and can simulate gait training in the supine position, thereby effectively promoting early rehabilitation of patients.

Inventors

  • CHEN, XIAOHUA
  • HU, HAO
  • CHEN, Qiaofeng

Assignees

  • 深圳市人民医院

Dates

Publication Date
20260507
Application Date
20251031
Priority Date
20241101

Claims (20)

  1. A multifunctional lower limb rehabilitation training device integrating rigidity and flexibility includes a base (100) and a flexion-extension support (200). The main body of the base (100) is a linear guide rail (110), which is connected to a head connector (120). The linear guide rail has a linear groove (111) along its length. The flexion-extension support (200) consists of a thigh support (210), a lower leg support (220), and a foot support (230) that are rotatably connected in sequence. The outer end of the thigh support (210) is connected to the head connector (120). The foot support (230) is rotatably connected to a flexion and extension roller (231) at its bottom end. The flexion and extension roller (231) can reciprocate on the straight groove (111) to realize the flexion and extension support reciprocating above the base. The multifunctional lower limb rehabilitation training device with rigidity and flexibility also includes a hip and knee joint flexion and extension autonomous training control mechanism (300), an ankle joint dorsiflexion and plantar flexion training mechanism (400), a hip and ankle joint internal and external rotation autonomous training mechanism (500), and a hip joint adduction and abduction autonomous training mechanism (600). The hip and knee joint flexion and extension autonomous training control mechanism (300) includes: flexion and extension hand ropes (310), foot pedals (320), and foot pedal ropes (330); the flexion and extension hand ropes (310) are located on both sides of the base, one end of each flexion and extension hand rope is detachably connected to the outer side of the first end connector (120), and the other end is connected to the bottom of the foot bracket. When the two flexion and extension hand ropes (310) are pulled simultaneously towards the first end connector (120) of the base, the flexion and extension bracket can be flexed; the foot pedals (320) are a pair slidably connected to the middle of the linear guide rail (110) on both sides. Stepping on either foot pedal can pull the foot pedal rope (330) to straighten the flexion and extension bracket again; The ankle dorsiflexion and plantarflexion training mechanism (400) includes: a support plate (410) outside the foot support plate (232) of the foot bracket (230), the lower end of the support plate (410) is hinged to the heel of the foot support plate (232), and an elastic component (420) is provided between the upper end of the support plate and the forefoot of the foot support plate (232). When the user's foot repeatedly steps and releases the foot support plate, the elastic component can be compressed and released to perform ankle dorsiflexion and plantarflexion training. The hip and ankle joint internal and external rotation self-training mechanism (500) includes: a support frame (510) set outside the support plate (232), the support frame having an internal and external rotation training arc track (520), the top of the internal and external rotation training arc track (520) having a through hole (521), the bottom of the support plate having an internal and external rotation roller (450) that can be inserted into the through hole and supported to rotate on the track; one end of a pair of internal and external rotation training pull ropes (530) is detachably connected to the outer side of the first end connector (120) for the user to pull, and the other end can drive the internal and external rotation roller (450) to rotate left and right on the internal and external rotation training arc track (520) through the support frame (510), thereby pulling the foot support plate (232) to rotate left and right, realizing the internal and external rotation training of the user's feet; The hip joint adduction and abduction self-training mechanism (600) includes: an adduction and abduction training arc track (610) located at the lower end of the linear guide rail (110) within the support frame (510), the arc of which is the same arc as the trajectory of rotation about the end of the base as the center and the length of the base as the radius, and the concave surface of the arc is provided with meshing teeth (611); an adduction and abduction gear (620) is rotatably vertically connected at the corresponding position at the lower end of the linear guide rail (110), the adduction and abduction gear (620) meshing with the meshing teeth (611); the adduction and abduction gear (620) meshes with the meshing teeth (611); the adduction and abduction gear (620) meshes with the meshing teeth (611). 20) There is a rotatable spindle (621), and two adduction and abduction training ropes (630) are respectively connected to both sides of the spindle, or only one adduction and abduction training rope (630) is fixedly connected to both sides of the spindle of the adduction and abduction gear (620) through, and then extends along the linear guide (110) to both sides of the first end connector (120) of the base for detachable fixing, so that the user can pull it by hand to drive the adduction and abduction gear (620) to mesh and roll on the meshing teeth (611), thereby driving the linear guide (110) to swing left and right in an arc, so as to realize the active training of hip joint adduction and abduction.
  2. According to claim 1, a multifunctional lower limb rehabilitation training device integrating rigidity and flexibility is characterized in that: a pair of foot pedals (320) are fixedly connected to the middle of the lower part of the linear guide rail by a fixed connecting block (321) between them; a pair of fixed pulleys are provided in the fixed connecting block; the first end of each foot pedal rope is fixedly connected to the outer end of a foot pedal (320), then sleeved in the fixed pulley, then passing over a groove of a double-groove fixed pulley (322), and finally fixedly connected to the shaft of the flexion and extension roller (231); the double-groove fixed pulley (322) is fixedly connected in the empty groove at the end of the linear guide rail (110); The foot pedal (320) is rotatably and foldably connected to the fixed connecting block (321), so that the foot pedal can be opened and folded and attached to the receiving groove (150) in the linear guide rail (110).
  3. According to claim 1, a multifunctional lower limb rehabilitation training device integrating rigidity and flexibility is characterized in that: a retractable resistance mechanism is provided along at least one side of each of the linear grooves (111), including a resistance surface (140) facing into the linear groove. The resistance surface is attached to a base plate. A push rod (141) that can achieve the telescopic function by pressing passes through the linear guide rail (110) from the side and is connected to the base plate. Pressing the push rod (141) can push the resistance surface and its base plate to move inward, rubbing against the flexion and extension roller (231) to increase the resistance of active flexion and extension training. Pressing the push rod (141) again can release the friction between the resistance surface and the flexion and extension roller (231).
  4. According to claim 1, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: the flexion and extension hand ropes (310) on both sides of the base are combined into one rope inside the linear guide rail, and the ends are connected to the bottom of the foot support.
  5. According to claim 1, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: each of the thigh support (210) and the calf support (220) has 4 telescopic rods arranged in a near-matrix pattern to form a channel for accommodating the thigh and calf; a flexible cloth (212) is connected between the two telescopic rods at the bottom, and an elastic restraint strap (213) is connected between the two telescopic rods at the top; the upper and lower telescopic rods are connected by a vertical support rod (214); The base's first end connector (120) consists of a central T-shaped insertion slot (122) and two near-L-shaped insertion pieces (123). The main insertion slot of the T-shaped insertion slot (122) is fitted outside the linear guide rail (110), and one of the insertion pieces (123) is inserted into each side. The insertion depth can be adjusted by pressing the depth adjustment button (124). The ends of the two telescopic rods at the bottom of the thigh support are connected to the top through holes of the two insertion pieces (123) via a pivot. Pressing the depth adjustment button (124) can adjust the distance between the two telescopic rods at the bottom to accommodate different leg circumferences. The thigh support and the calf support are rotatably engaged by a chuck (241) that limits the upper limit of the rotation angle and a first degree wheel (242) with rotation degree markings. A first parallel pointer (243) is provided on the outside of the first degree wheel with degree markings, which can indicate the rotation angle when the flexion and extension support (200) flexes and extends.
  6. According to claim 1, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: each pair of flexion and extension hand ropes (310), internal and external rotation training ropes (530), and adduction and abduction training ropes (630) are distinguished by different colors, and their ends can be hung on the fixing positions or hanging rings of the first end connector (120) of the base, respectively, corresponding to the colors of the ropes.
  7. According to claim 1, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: the first end connector (120) is further provided with a hook (125) for fixing the rope that needs to be positioned when pulled to a certain extent.
  8. According to claim 1, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: the middle part of each of the internal and external rotation training ropes (530) and the adduction and abduction training ropes (630) passes through the rope fixing tubes (160) set on both sides of the linear guide rail (110).
  9. According to claim 1, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: the heel of the foot support plate (232) and the lower leg support connecting rod (223) of the lower leg support (220) are rotatably connected by a foot hinge shaft (430); in the initial state, the connection between the two is limited to a state of foot support plate dorsiflexion of -5°; this dorsiflexion angle limitation can be maintained or released during use.
  10. According to claim 9, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: a pressable pen-type pressing structure is used to achieve the release function: when the pressing column (440) is pressed, it passes through the lower leg support connecting rod (223) and extends into the foot hinge shaft (430), locking the two together to form the initial state; when the pressing column (440) is pressed again, it will spring back and disengage from the foot hinge shaft (430), remaining only in the lower leg support connecting rod (223), thereby releasing the foot support plate from the -5° dorsiflexion state.
  11. According to claim 1, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: the lower leg support connecting rod (223) hinged to the foot support plate (232) is provided with a second degree wheel (2324) with degree markings and a second parallel pointer (2325) on the outside, so as to display the rotation angle of the foot support plate.
  12. According to claim 9, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: a pressure sensor (233) is provided in the heel area of the foot support plate (232), the pressure sensor is electrically connected to a pressure display screen (234), and the pressure display screen is exposed on the side of the foot support plate.
  13. According to claim 1, the multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: the main body of the foot support plate (232) is a foot-shaped hollow metal plate, which is covered with a foot memory foam pad (2327), and is provided with a detachable instep restraint strap (2328), and a heel support (2329) with a memory foam pad is connected to the heel; the foot memory foam pad (2327) is also equipped with a replaceable openable pressure plate (23271).
  14. According to claim 1, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: an encapsulation shell (421) is used to encapsulate the elastic component (420) between the foot support plate (232) and the support plate (410).
  15. According to claim 1, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: the elastic component (420) is a spring or a hydraulic rod.
  16. According to claim 10, a multifunctional lower limb rehabilitation training device integrating rigidity and flexibility is characterized in that: a vertical connecting plate (130) extends laterally from both sides of the linear guide rail (110) near the support frame (510), and the inner side of the support frame (510) is rotatably connected to the outer side of the vertical connecting plate (130); an arc track (131) extends forward from the outer edge of each vertical connecting plate (130), with the groove of the track facing upward, and a return spring is built into its lowest point; a rigid vertical slide rod (540) extends forward vertically from both sides of the support frame (510), and the outer end of each vertical slide rod is limited to... The support frame slides within the arc track (131). In the initial state without external force, the support frame is upright, with the outer end of the vertical slide rod (540) at the top of the arc track (131) and the spring in a free state. When the user actively, passively, or assisted in plantar flexion training, the foot support plate (232) and the support plate (410) press down on the support frame (510), causing the support frame (510) to tilt forward. The outer end of the vertical slide rod (540) slides down within the arc track (131), compressing the return spring. When the plantar flexion force is removed, the restoring force of the return spring causes the outer end of the vertical slide rod (540) to move upward, re-erecting the support frame (510).
  17. According to claim 16, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: a hydraulic rod connecting seat (132) is connected to the rear of each vertical connecting plate (130), and a hydraulic rod (133) extends from it and is connected to the support frame (510).
  18. According to claim 16, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: the circular arc track (131) is a quarter-circle arc.
  19. According to claim 16, a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility is characterized in that: pull ropes are connected to both sides of the bottom of the support frame.
  20. According to claim 16, a multifunctional lower limb rehabilitation training device integrating rigidity and flexibility is characterized in that: the support frame (510) includes triangular supports on both sides; each triangular support is composed of a telescopic rod (550), a support rod (560) and a bottom connecting rod (570); the telescopic rod (550) is located on the inner side, close to the vertical connecting plate (130), and is rotatably connected to the vertical connecting plate (130) through a rotating shaft (580); the upper end of the support rod (560) is sleeved outside the telescopic rod (540) to allow it to extend and retract; the bottom connecting rod (560) is fixedly connected between the bottom of the telescopic rod (550) and the support rod (560); the top end of the telescopic rod (550) is connected to the inner and outer rotation training arc track (520) to form an arch-shaped support frame.

Description

A multifunctional lower limb rehabilitation training device that combines rigidity and flexibility Technical Field This invention relates to a medical device, and more particularly to a multifunctional lower limb rehabilitation training device that combines rigidity and flexibility. Background Technology With the rapid development of science and technology in today's society, people's living standards have greatly improved. China also faces the same problems as many other countries in the world: it is rapidly entering an aging society. Because many elderly people suffer from neurological or cerebrovascular diseases, the incidence of these diseases is increasing every year; among stroke patients, approximately 70% to 80% will experience varying degrees of lower limb motor dysfunction. In recent years, with the rapid development of intelligent rehabilitation technology, lower limb rehabilitation robot technology, through weight reduction and repeated training of standardized normal physiological gait, enables patients with lower limb movement disorders to undergo scientific and effective rehabilitation training, thereby restoring their walking ability. However, in clinical practice, this training model has been found to be less effective in restoring limb function for patients with muscle strength below grade three or those with Parkinson's disease. Exoskeleton systems, based on bionic principles and with a structure close to anatomy, can organically combine robotics technology with rehabilitation therapy, assisting patients in specific joint training and improving physical function; however, only 55% of patients receiving rehabilitation therapy regain their walking ability. Patients with neurological or cerebrovascular diseases often suffer from hip fractures due to gait abnormalities, making it extremely difficult to restore lower limb motor function. Hip fractures are also the most common lower limb fractures in the elderly. Surgery is the main treatment for hip fractures in the elderly to improve their walking ability, but only 40% to 60% of patients recover their activity level to the pre-fracture level after surgery. There are no reports on the use of robotic lower limb rehabilitation training for patients after internal fixation of hip fractures. To better facilitate the recovery of muscle strength in patients with lower limb dysfunction before standing training, and to make lower limb walking training feasible, thereby promoting the recovery of lower limb walking function, literature reports that experts have designed training modes for lower limb rehabilitation robots with two degrees of freedom and three combined degrees of freedom. One such mode involves core muscle training in a supine position. While this training program can promote safe and early lower limb rehabilitation, it still has shortcomings. The training mode of the two-degree-of-freedom lower limb rehabilitation robot is essentially a passive hip and knee training mode, failing to consider the ankle joint's own range of motion and training status. Foot training plays a crucial role in the rehabilitation of lower limb function. Although the three-degree-of-freedom lower limb rehabilitation robot is designed to meet the rehabilitation movements of the thigh, calf, and ankle joints, its drive mechanism only uses hydraulic drive and lacks resistance training, making it very difficult to restore lower limb muscle strength. To enable the researched and developed lower limb rehabilitation training device to be used for patients with lower limb dysfunction caused by neurological damage, hip fracture, or both stroke and hip fracture, for multi-joint, multi-range, anti-spasticity, and resistance training of the lower limbs, the applicant has also designed an intelligent multi-functional lower limb rehabilitation training all-in-one machine, with application number CN202210340685.9 and invention title "Intelligent Multifunctional Lower Limb Rehabilitation Training All-in-One Machine". However, during further research and development, the following defects were found in this all-in-one machine: 1) Training can only be conducted under a power system. Clinical applications have shown that passive training can only be used for short periods, while active training is the best way to promote better recovery of limb function and overall physical and mental health in patients. 2) Only single-limb training mode is available; multi-limb coordination is not supported. 3) When performing hip adduction and abduction training, the range of motion on the transverse track should be limited to 0-5 degrees. If the range of motion is too small, the training effect will be limited. 4) During hip and knee joint internal and external rotation training, the range of motion is small and the freedom of movement is insufficient. While performing internal and external rotation training, the ankle cannot plantarflex and can only passively perform internal and external rotat